System and method to automatically construct a flight plan from a data set for an aerial vehicle

ABSTRACT

A system for automatically constructing a flight plan that aligns with a boundary line is provided. The system has a controller that is configured to: automatically select a set of geographical (geo) coordinate waypoints along a boundary line using waypoints from the geographical database responsive to flight crew input; refine the set of geo coordinate waypoints using a calculated turn initiation distance and a turn completion distance for every waypoint; further refine the refined set of geo coordinate waypoints based on the course change between waypoints; generate a set of courses and distances between waypoints through computing, for each set of two consecutive waypoints in the further refined set of geo coordinate waypoints, the course and distance between the two consecutive waypoints; and construct the flight plan based on the waypoints in the further refined set of geo coordinate waypoints and the set of courses and distances between waypoints.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to Indian Provisional PatentApplication No. 202011018322, filed Apr. 29, 2020, the entire content ofwhich is incorporated by reference herein.

TECHNICAL FIELD

Embodiments of the subject matter described herein relate generally toflight deck systems. More particularly, embodiments of the subjectmatter relate to the generation of flight plans using flight decksystems.

BACKGROUND

The current computer-controlled navigation systems do not provide ameans to automatically generate a flight plan or an offset flight planfrom a data set, requiring a pilot to enter each waypoint manually.Examples of a data set are: state or country boundaries, othergeographical boundaries such as rivers, mountain contours or data forother search and rescue criteria, etc. It can be a challenging andtedious task to manually construct a flight plan that aligns preciselywith the various boundaries to perform monitoring or searching.

A search and rescue mission might be along a river or in a mountainousarea where an existing type of search pattern would not produce theneeded coverage. Country and state boundaries may need monitoring, andmanually constructing a flight plan to monitor the boundaries can betedious.

Hence, it is desirable to provide systems and methods for automaticallyconstructing a flight plan. Furthermore, other desirable features andcharacteristics of the present invention will become apparent from thesubsequent detailed description and the appended claims, taken inconjunction with the accompanying drawings and the foregoing technicalfield and background.

SUMMARY

This summary is provided to describe select concepts in a simplifiedform that are further described in the Detailed Description. Thissummary is not intended to identify key or essential features of theclaimed subject matter, nor is it intended to be used as an aid indetermining the scope of the claimed subject matter.

A processor-implemented system for automatically constructing a flightplan for an aerial vehicle that aligns with a boundary line usinginformation from a geographical database is disclosed. The system has acontroller that includes one or more processors configured byprogramming instructions on non-transitory computer readable media. Thecontroller is configured to: automatically select a set of geographical(geo) coordinate waypoints along a boundary line using waypoints fromthe geographical database responsive to flight crew input; refine theset of geo coordinate waypoints using a calculated turn initiationdistance (TID) and a turn completion distance (TCD) for every waypoint;further refine the refined set of geo coordinate waypoints based on thecourse change between waypoints; generate a set of courses and distancesbetween waypoints through computing, for each set of two consecutivewaypoints in the further refined set of geo coordinate waypoints, thecourse and distance between the two consecutive waypoints; and constructthe flight plan based on the waypoints in the further refined set of geocoordinate waypoints and the set of courses and distances betweenwaypoints. The flight plan is flown by the aerial vehicle.

A processor-implemented method in flight deck equipment forautomatically constructing a flight plan for an aerial vehicle thataligns with a boundary line using information from a geographicaldatabase is disclosed. The method includes: automatically selecting aset of geographical (geo) coordinate waypoints along a boundary lineusing waypoints from the geographical database responsive to flight crewinput; refining the set of geo coordinate waypoints using a calculatedturn initiation distance (TID) and a turn completion distance (TCD) forevery waypoint; further refining the refined set of geo coordinatewaypoints based on the course change between waypoints; generating a setof courses and distances between waypoints through computing, for eachset of two consecutive waypoints in the further refined set of geocoordinate waypoints, the course and distance between the twoconsecutive waypoints; and constructing the flight plan based on thewaypoints in the further refined set of geo coordinate waypoints and theset of courses and distances between waypoints. The flight plan is flownby the aerial vehicle.

Furthermore, other desirable features and characteristics will becomeapparent from the subsequent detailed description and the appendedclaims, taken in conjunction with the accompanying drawings and thepreceding background.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the subject matter will hereinafter be described inconjunction with the following drawing figures, wherein like numeralsdenote like elements, and wherein:

FIG. 1 is a diagram depicting an example map of area around which anaerial vehicle is to fly, in accordance with some embodiments;

FIG. 2 is a block diagram of an example system for automaticallyconstructing a flight plan, using geographical database information, foran aerial vehicle to traverse a flight path to follow a boundary, inaccordance with some embodiments;

FIG. 3 is a process flow chart depicting an example process in flightdeck equipment for automatically generating a boundary flight plan, inaccordance with some embodiments;

FIG. 4 is a process flow chart depicting an example process in theflight deck equipment for automatically generating an offset flight planfrom a boundary flight plan, in accordance with some embodiments;

FIG. 5 is a process flow chart depicting another example process inflight deck equipment for automatically generating a boundary, inaccordance with some embodiments; and

FIG. 6 is a process flow chart depicting another example process in theflight deck equipment for automatically generating an offset flight planfrom a boundary flight plan, in accordance with some embodiments.

DETAILED DESCRIPTION

The following detailed description is merely exemplary in nature and isnot intended to limit the application and uses. Furthermore, there is nointention to be bound by any expressed or implied theory presented inthe preceding technical field, background, summary, or the followingdetailed description. As used herein, the term “module” refers to anyhardware, software, firmware, electronic control component, processinglogic, and/or processor device, individually or in any combination,including without limitation: application specific integrated circuit(ASIC), a field-programmable gate-array (FPGA), an electronic circuit, aprocessor (shared, dedicated, or group) and memory that executes one ormore software or firmware programs, a combinational logic circuit,and/or other suitable components that provide the describedfunctionality.

Embodiments of the present disclosure may be described herein in termsof functional and/or logical block components and various processingsteps. It should be appreciated that such block components may berealized by any number of hardware, software, and/or firmware componentsconfigured to perform the specified functions. For example, anembodiment of the present disclosure may employ various integratedcircuit components, e.g., memory elements, digital signal processingelements, logic elements, look-up tables, or the like, which may carryout a variety of functions under the control of one or moremicroprocessors or other control devices. In addition, those skilled inthe art will appreciate that embodiments of the present disclosure maybe practiced in conjunction with any number of systems, and that thesystems described herein is merely exemplary embodiments of the presentdisclosure.

For the sake of brevity, conventional techniques related to signalprocessing, data transmission, signaling, control, and other functionalaspects of the systems (and the individual operating components of thesystems) may not be described in detail herein. Furthermore, theconnecting lines shown in the various figures contained herein areintended to represent example functional relationships and/or physicalcouplings between the various elements. It should be noted that manyalternative or additional functional relationships or physicalconnections may be present in an embodiment of the present disclosure.

The subject matter described herein discloses apparatus, systems,techniques and articles for automatically constructing a flight plan foran aerial vehicle that aligns with a boundary line using informationfrom a geographical database. FIG. 1 is a diagram depicting an examplemap of area 100 around which an aerial vehicle (e.g., airplane, UAV,drone, helicopter, or other aerial vehicle) is to fly. The area 100includes a boundary 102 that extends through the area 100. The boundary102 may be a natural boundary, such as a river or mountain contours, ora governmental boundary, such as a city, county, state or countryboundary. The subject matter described herein discloses apparatus,systems, techniques and articles for automatically constructing a flightplan, using geographical database information, for an aerial vehicle totraverse a flight path 104 to follow the boundary 102. The constructedflight plan identifies a starting location B1W01 for the aerial vehicleand an ending location T002 for the flight path 104, a plurality ofwaypoints B1W02 to B1W14 in a forward direction between the startinglocation B1W01 and the ending location T002 on the flight path 104, awraparound waypoint B1W15 at the end of the flight path 104 for use bythe aerial vehicle to complete a turn to travel back along the flightpath 104 in a reverse direction, and a wraparound waypoint T001 at thebeginning of the flight path 104 for use by the aerial vehicle tocomplete a turn to travel back along the flight path 104 in a forwarddirection. In this example, the flight path 104 does not fall on theboundary 102, but is laterally offset from the boundary 102 by aspecified distance, for example, to ensure that the flight path 104 iswell within the boundary (e.g., a governmental boundary) by applying alateral offset of the specified distance to the path.

In this example, the flight path is flown with a course reversal at eachend of the route/track 104 to allow for the performance of monitoring orpatrolling services. Course reversal can be initiated at either end ofthe route 104 or in between waypoints. Additionally, the pilot maychoose a LEFT or RIGHT turn at any time while flying to initiate acourse reversal.

FIG. 2 is a block diagram of an example system 200 for automaticallyconstructing a flight plan, using geographical database information, foran aerial vehicle to traverse a flight path to follow a boundary. Theexample system includes flight deck equipment, such as a flightmanagement system 202 for automatically generating a boundary flightplan 204, an electronic display system 206 for use by flight crew toprovide input for the automatic generation of the boundary flight plan,and a geographical database 208 containing potential waypoints along aboundary for consideration when constructing the boundary flight plan204.

The flight deck equipment 202 has a controller. The controller in thisexample implements an automatic flight plan generation module 210 thatis configured to automatically select a set of geo coordinate waypointsalong a boundary line using waypoints from the geographical database 208responsive to flight crew input from the electronic display system 206.

The controller 210 includes at least one processor and a non-transitorycomputer-readable storage device or media encoded with programminginstructions for configuring the controller. The processor may be anycustom-made or commercially available processor, a central processingunit (CPU), a graphics processing unit (GPU), an application specificintegrated circuit (ASIC), a field programmable gate array (FPGA), anauxiliary processor among several processors associated with thecontroller, a semiconductor-based microprocessor (in the form of amicrochip or chip set), any combination thereof, or generally any devicefor executing instructions.

The computer readable storage device or media may include volatile andnonvolatile storage in read-only memory (ROM), random-access memory(RAM), and keep-alive memory (KAM), for example, KAM is a persistent ornon-volatile memory that may be used to store various operatingvariables while the processor is powered down. The computer-readablestorage device or media may be implemented using any of a number ofknown memory devices such as PROMs (programmable read-only memory),EPROMs (electrically PROM), EEPROMs (electrically erasable PROM), flashmemory, or any other electric, magnetic, optical, or combination memorydevices capable of storing data, some of which represent executableprogramming instructions, used by the controller.

The controller 210 is configured to refine the set of geo coordinatewaypoints by computing a turn initiation distance (TID) and a turncompletion distance (TCD) for every waypoint. The controller 210 isfurther configured to refine the set of geo coordinate waypoints, foreach waypoint in the set of geo coordinate waypoints, when the sum ofthe TID for the particular waypoint and the TCD for the prior waypointin the set of geo coordinate waypoints is greater than a distancebetween the prior waypoint and the particular waypoint, by removing theparticular waypoint from the set of geo coordinate waypoints, connectingthe prior waypoint to the next waypoint in the set of geo coordinatewaypoints, and re-computing the course and distance between the priorwaypoint to the next waypoint.

The controller 210 is further configured to refine the refined set ofgeo coordinate waypoints by computing a course change at every waypointfrom the refined set of geo coordinate waypoints, retaining a waypointfrom the refined set of geo coordinate waypoints when the course changeat the waypoint is greater than a predetermined amount (e.g., three (3)degrees), and removing a waypoint from the refined set of geo coordinatewaypoints when the course change at the waypoint is not greater than thepredetermined amount.

The controller 210 is configured to generate a set of courses anddistances between waypoints through computing, for each set of twoconsecutive waypoints in the further refined set of geo coordinatewaypoints, the course and distance between the two consecutivewaypoints. The controller 210 is configured to construct the flight planbased on the waypoints in the further refined set of geo coordinatewaypoints and the set of courses and distances between waypoints toproduce a flight plan that may be flown by the aerial vehicle along aflight path that traverses the boundary, or a portion thereof.

To produce an offset flight path along a boundary, the controller 210 isfurther configured to construct a set of offset flight plan waypointsfrom the further refined set of geo coordinate waypoints when a lateraloffset distance is requested for the waypoints by projecting eachwaypoint from the further refined set of geo coordinate waypoints by thelateral offset distance at a waypoint bisector for the waypoint.

The controller 210 is configured to refine the set of offset flight planwaypoints by computing the TID and TCD at every offset waypointtransition. The controller 210 is further configured to refine the setof offset flight plan waypoints, when the sum of the TID for aparticular waypoint and the TCD for the prior waypoint is greater than adistance between the prior waypoint and the particular waypoint, byremoving the particular waypoint and connecting the prior waypoint tothe next waypoint.

The controller 210 is further configured to generate a set of coursesand distances between offset waypoints through computing, for each setof two consecutive waypoints in the refined set of offset waypoints, thecourse and distance between the two consecutive waypoints. Thecontroller 210 is further configured to construct the flight plan usingthe waypoints in the further refined set of offset flight plan waypointsand the set of courses and distances between offset waypoints.

The controller 210 in some examples is further configured to adjust theboundary flight plan and/or offset flight plan based on addition flightplanning factors such as weather, NOTAMS, Airspace restrictions, terrainin the anticipated flight path, and others. For example, the controller210 is further configured to adjust the construction of the flight pathlaterally and vertically by considering weather data inputs. Thecontroller 210 is further configured to adjust the construction of theflight path laterally and vertically by considering Terrain databaseinputs. The controller 210 is further configured to adjust theconstruction of the flight path laterally and vertically by consideringAirspace restrictions. The controller 210 is further configured toadjust the construction of the flight path laterally and vertically byconsidering NOTAM inputs.

The flight crew input received via the electronic display system (e.g.,by graphically selecting it on the Display or manually entering it onMCDU or equivalent device) may include (i) flight crew selection of anorigin point, a destination point, and the identity of a boundary linealong which the aerial vehicle is to fly; (ii) flight crew selection ofthe identity of a boundary line along which the aerial vehicle is to flyand a distance; or (iii) simply flight crew selection of the identity ofa boundary line along which the aerial vehicle is to fly.

When the flight crew input comprises flight crew selection of an originpoint, a destination point, and the identity of a boundary line alongwhich the aerial vehicle is to fly, to automatically select a set of geocoordinate waypoints, the controller 210 is configured to automaticallyselect a boundary segment from the identified boundary line between theorigin point and the destination point, and construct a flight plan witha course reversal along the boundary segment using waypoints from thegeographical database that are along the boundary segment and betweenthe origin point and the destination point.

When the flight crew input comprises flight crew selection of theidentity of a boundary line along which the aerial vehicle is to fly anda distance, to automatically select a set of geo coordinate waypoints,the controller 210 is configured to automatically select the currentposition of the aerial vehicle as the origin, and construct a flightplan with a course reversal along the boundary line from the originpoint for the specified distance using waypoints from the geographicaldatabase that are along the boundary line for the specified distance.

When the flight crew input comprises flight crew selection of theidentity of a boundary line along which the aerial vehicle is to fly, toautomatically select a set of geo coordinate waypoints, the controller210 is configured to automatically construct a flight plan with a coursereversal along the complete length of the boundary line using waypointsfrom the geographical database that are along the boundary line.

FIG. 3 is a process flow chart depicting an example process 300 inflight deck equipment for automatically generating a boundary flightplan. In the example process 300, flight deck equipment (e.g., the FMS)is provided with geographical (geo) coordinate waypoints from ageographical information database (operation 302). In one example, theprovision is done as a result of pilot or flight crew member selectionof a boundary line, river, mountain contour, or other search criteriafrom geographical database segments that are displayed on a navigationaldisplay.

In the example process 300, the flight deck equipment (e.g., the FMS)parses through and performs the operations that follow this operationfor each received geo coordinate waypoint (operation 304). To do thisthe flight deck equipment (e.g., the FMS) receives the set of geocoordinate waypoints and processes it using the operations that followthis operation to automatically construct a flight plan to performnavigation over the coordinate waypoints chosen during the followingoperations.

The example process 300 includes refining the set of geo coordinatewaypoints by applying a first filtering algorithm for the entire set ofwaypoints. The first filtering algorithm includes computing transitiondata, Turn initiation distance (TID) and Turn completion distance (TCD),at every waypoint transition (operation 306). The first filteringalgorithm also includes determining if the sum of the TID for a currentprocessed waypoint and the TCD of the prior processed waypoint isgreater than the distance between the prior waypoint and the currentwaypoint (decision 308).

If the sum of the TID for a current processed waypoint and the TCD ofthe prior processed waypoint is greater than the distance between theprior waypoint and the current waypoint (yes at decision 308), then theprocess 300 includes removing this current waypoint from the set,connecting the prior waypoint to the next waypoint in the set,re-computing the course and distance between these newly connectedwaypoints (operation 310) and performing operation 306 using the nextwaypoint in the set of waypoints. If the sum of the TID for a currentprocessed waypoint and the TCD of the prior processed waypoint is notgreater than the distance between the prior waypoint and the currentwaypoint (no at decision 308), then the process 300 includes performingoperation 306 using the next waypoint in the set of waypoints.

When all waypoints in the set have been processed (when the firstfiltering algorithm is complete), the example process 300 includesrefining the filtered set of geo coordinate waypoints by applying asecond filtering algorithm for the entire set of filtered waypoints. Thesecond filtering algorithm includes computing the course change at everywaypoint for the filtered series of waypoints (operation 312) anddetermining for each waypoint whether the course change is greater than3 degrees (decision 314).

If the course change at a waypoint is not greater than 3 degrees (no atdecision 314), then the example process 300 includes discarding thewaypoint (operation 316). If the course change at a waypoint is greaterthan 3 degrees (yes at decision 314), then the example process 300includes retaining that waypoint to create a more-refined list ofwaypoints (operation 318). The example process 300 includes repeatingoperation 312 using the next waypoint until all waypoints have beenprocessed. The more-refined list of waypoints are used in the boundaryflight plan.

FIG. 4 is a process flow chart depicting an example process 400 in theflight deck equipment for automatically generating an offset flight planfrom the boundary flight plan. The example process 400 includesdetermining if an offset distance is requested for the waypoints(decision 402). If an offset distance is requested (yes at decision402), then the lateral offset distance is applied to the waypoints inthe boundary flight plan to project the waypoints at each waypointbisector by the lateral offset distance (operation 404). If an offsetdistance is not requested (no at decision 402), then the boundary flightplan is used.

The example process 300 includes refining the set of offset waypoints byapplying a third filtering algorithm for the entire set of waypoints.The third filtering algorithm includes computing transition data, Turninitiation distance (TID) and Turn completion distance (TCD), at everywaypoint transition (operation 406). The third filtering algorithm alsoincludes determining if the sum of the TID for a current processedwaypoint and the TCD of the prior processed waypoint is greater than thedistance between the prior waypoint and the current waypoint (decision408).

If the sum of the TID for a current processed waypoint and the TCD ofthe prior processed waypoint is greater than the distance between theprior waypoint and the current waypoint (yes at decision 408), then theprocess 400 includes removing this current waypoint from the set,connecting the prior waypoint to the next waypoint in the set,re-computing the course and distance between these newly connectedwaypoints (operation 410), and performing operation 406 using the nextwaypoint in the set of waypoints. If the sum of the TID for a currentprocessed waypoint and the TCD of the prior processed waypoint is notgreater than the distance between the prior waypoint and the currentwaypoint (no at decision 408), then the process 400 includes performingoperation 406 using the next waypoint in the set of waypoints.

Removing the current waypoint from the set, connecting the priorwaypoint to the next waypoint in the set, and re-computing the courseand distance between these newly connected waypoints (operation 410)results in a refined series of waypoints (412).

The refined series of waypoints (412) are used in the offset flight planand can be used for navigation to perform boundary flying, searching,and other tasks (operation 414). The offset flight plan is automaticallyconstructed and can be used to perform boundary monitoring, flyingthrough rivers, mountain contours, search criteria, and others.

FIG. 5 is a process flow chart depicting an example process 500 inflight deck equipment for automatically generating a boundary flightplan. The order of operation within the process 500 is not limited tothe sequential execution as illustrated in the figure, but may beperformed in one or more varying orders as applicable and in accordancewith the present disclosure.

The example process 500 includes automatically selecting a set ofgeographical (geo) coordinate waypoints along a boundary line usingwaypoints from the geographical database responsive to flight crew input(operation 502).

The example process 500 includes refining the set of geo coordinatewaypoints using a calculated turn initiation distance (TID) and a turncompletion distance (TCD) for every waypoint (operation 504). Refiningthe set of geo coordinate waypoints includes computing a turn initiationdistance (TID) and a turn completion distance (TCD) for every waypoint(operation 506) and for each waypoint in the set of geo coordinatewaypoints, when the sum of the TID for the particular waypoint and theTCD for the prior waypoint in the set of geo coordinate waypoints isgreater than a distance between the prior waypoint and the particularwaypoint, removing the particular waypoint from the set of geocoordinate waypoints, connecting the prior waypoint to the next waypointin the set of geo coordinate waypoints, and re-computing the course anddistance between the prior waypoint to the next waypoint (operation508).

The example process 500 includes further refining the refined set of geocoordinate waypoints based on the course change between waypoints(operation 510). Further refining the refined set of geo coordinatewaypoints based on the course change between waypoints may includecomputing a course change at every waypoint from the refined set of geocoordinate waypoints, retaining a waypoint from the refined set of geocoordinate waypoints when the course change at the waypoint is greaterthan a predetermined amount, and removing a waypoint from the refinedset of geo coordinate waypoints when the course change at the waypointis not greater than the predetermined amount. The predetermined amountmay be 3 degrees.

The example process 500 includes generating a set of courses anddistances between waypoints through computing, for each set of twoconsecutive waypoints in the further refined set of geo coordinatewaypoints, the course and distance between the two consecutive waypoints(operation 512).

The example process 500 includes constructing the flight plan based onthe waypoints in the further refined set of geo coordinate waypoints andthe set of courses and distances between waypoints (operation 514). Theflight plan may be flown by the aerial vehicle.

FIG. 6 is a process flow chart depicting an example process 600 inflight deck equipment for automatically generating an offset flight planfrom a boundary flight plan. The example process 600 includesconstructing a set of offset flight plan waypoints from the furtherrefined set of geo coordinate waypoints when a lateral offset distanceis requested for the waypoints by projecting each waypoint from thefurther refined set of geo coordinate waypoints by the lateral offsetdistance at a waypoint bisector for the waypoint (operation 602).

The example process 600 includes refining the set of offset flight planwaypoints (operation 604). Refining the set of offset flight planwaypoints includes computing the TID and TCD at every offset waypointtransition (decision 606) and when the sum of the TID for a particularwaypoint and the TCD for the prior waypoint is greater than a distancebetween the prior waypoint and the particular waypoint, removing theparticular waypoint, connecting the prior waypoint to the next waypoint(operation 608).

The example process 600 includes generating a set of courses anddistances between offset waypoints through computing, for each set oftwo consecutive waypoints in the refined set of offset waypoints, thecourse and distance between the two consecutive waypoints (operation610).

The example process 600 includes constructing the flight plan using thewaypoints in the further refined set of offset flight plan waypoints andthe set of courses and distances between offset waypoints (decision612). The flight plan with the offset waypoints may be flown by theaerial vehicle.

Described herein are apparatus, systems, techniques and articles forautomatically constructing a flight plan for an aerial vehicle thataligns with a boundary line using information from a geographicaldatabase. In one embodiment, a processor-implemented system forautomatically constructing a flight plan for an aerial vehicle thataligns with a boundary line using information from a geographicaldatabase is provided. The system has a controller comprising one or moreprocessors configured by programming instructions on non-transitorycomputer readable media. The controller is configured to: automaticallyselect a set of geographical (geo) coordinate waypoints along a boundaryline using waypoints from the geographical database responsive to flightcrew input; refine the set of geo coordinate waypoints using acalculated turn initiation distance (TID) and a turn completion distance(TCD) for every waypoint; further refine the refined set of geocoordinate waypoints based on the course change between waypoints;generate a set of courses and distances between waypoints throughcomputing, for each set of two consecutive waypoints in the furtherrefined set of geo coordinate waypoints, the course and distance betweenthe two consecutive waypoints; and construct the flight plan based onthe waypoints in the further refined set of geo coordinate waypoints andthe set of courses and distances between waypoints. The flight plan isflown by the aerial vehicle.

These aspects and other embodiments may include one or more of thefollowing features. The flight crew input may comprise flight crewselection of an origin point, a destination point, and the identity of aboundary line along which the aerial vehicle is to fly; and toautomatically select a set of geo coordinate waypoints, the controllermay be configured to automatically select a boundary segment from theidentified boundary line between the origin point and the destinationpoint, and construct a flight plan along the boundary segment usingwaypoints from the geographical database that are along the boundarysegment and between the origin point and the destination point. Theflight crew input may comprise the identity of a boundary line alongwhich the aerial vehicle is to fly and a distance; and to automaticallyselect a set of geo coordinate waypoints, the controller may beconfigured to automatically select the current position of the aerialvehicle as the origin, and construct a flight plan along the boundaryline from the origin point for the specified distance using waypointsfrom the geographical database that are along the boundary line for thespecified distance. The flight crew input may comprise flight crewselection of the identity of a boundary line along which the aerialvehicle is to fly; and to automatically select a set of geo coordinatewaypoints, the controller may be configured to automatically construct aflight plan along the complete length of the boundary line usingwaypoints from the geographical database that are along the boundaryline. To refine the set of geo coordinate waypoints using a calculatedturn initiation distance (TID) and a turn completion distance (TCD) forevery waypoint, the controller may be configured to refine the set ofgeo coordinate waypoints by: computing a turn initiation distance (TID)and a turn completion distance (TCD) for every waypoint; and for eachwaypoint in the set of geo coordinate waypoints, when the sum of the TIDfor the particular waypoint and the TCD for the prior waypoint in theset of geo coordinate waypoints is greater than a distance between theprior waypoint and the particular waypoint, removing the particularwaypoint from the set of geo coordinate waypoints, connecting the priorwaypoint to the next waypoint in the set of geo coordinate waypoints,and re-computing the course and distance between the prior waypoint tothe next waypoint. The predetermined amount may be 3 degrees. Thecontroller may be further configured to construct a set of offset flightplan waypoints from the further refined set of geo coordinate waypointswhen a lateral offset distance is requested for the waypoints byprojecting each waypoint from the further refined set of geo coordinatewaypoints by the lateral offset distance at a waypoint bisector for thewaypoint. The controller may be further configured to refine the set ofoffset flight plan waypoints by: computing the TID and TCD at everyoffset waypoint transition; and when the sum of the TID for a particularwaypoint and the TCD for the prior waypoint is greater than a distancebetween the prior waypoint and the particular waypoint, removing theparticular waypoint, and connecting the prior waypoint to the nextwaypoint. The controller may be further configured to generate a set ofcourses and distances between offset waypoints through computing, foreach set of two consecutive waypoints in the refined set of offsetwaypoints, the course and distance between the two consecutivewaypoints. The controller may be further configured to construct theflight plan using the waypoints in the further refined set of offsetflight plan waypoints and the set of courses and distances betweenoffset waypoints. The controller may be further configured to furtherrefine the refined set of geo coordinate waypoints based on the coursechange between waypoints by computing a course change at every waypointfrom the refined set of geo coordinate waypoints, retaining a waypointfrom the refined set of geo coordinate waypoints when the course changeat the waypoint is greater than a predetermined amount, and removing awaypoint from the refined set of geo coordinate waypoints when thecourse change at the waypoint is not greater than the predeterminedamount. The controller may be further configured to apply a coursereversal at the end of the boundary flight path and ensure that theaerial vehicle does not cross boundary lines. The controller may befurther configured to apply a course reversal at a point other than anend point on the flight path along the boundary flight path. Thecontroller may be further configured to adjust the construction of theflight path laterally and vertically by considering weather data inputs.The controller may be further configured to adjust the construction ofthe flight path laterally and vertically by considering Terrain databaseinputs. The controller may be further configured to adjust theconstruction of the flight path laterally and vertically by consideringAirspace restrictions. The controller may be further configured toadjust the construction of the flight path laterally and vertically byconsidering NOTAM inputs.

In another embodiment, a processor-implemented method in flight deckequipment for automatically constructing a flight plan for an aerialvehicle that aligns with a boundary line using information from ageographical database is provided. The method comprises: automaticallyselecting a set of geographical (geo) coordinate waypoints along aboundary line using waypoints from the geographical database responsiveto flight crew input; refining the set of geo coordinate waypoints usinga calculated turn initiation distance (TID) and a turn completiondistance (TCD) for every waypoint; further refining the refined set ofgeo coordinate waypoints based on the course change between waypoints;generating a set of courses and distances between waypoints throughcomputing, for each set of two consecutive waypoints in the furtherrefined set of geo coordinate waypoints, the course and distance betweenthe two consecutive waypoints; and constructing the flight plan based onthe waypoints in the further refined set of geo coordinate waypoints andthe set of courses and distances between waypoints. The flight plan isflown by the aerial vehicle.

These aspects and other embodiments may include one or more of thefollowing features. The flight crew input may comprise flight crewselection of an origin point, a destination point, and the identity of aboundary line along which the aerial vehicle is to fly; andautomatically selecting a set of geo coordinate waypoints may compriseautomatically selecting a boundary segment from the identified boundaryline between the origin point and the destination point, andconstructing a flight plan along the boundary segment using waypointsfrom the geographical database that are along the boundary segment andbetween the origin point and the destination point. The flight crewinput may comprise the identity of a boundary line along which theaerial vehicle is to fly and a distance; and automatically selecting aset of geo coordinate waypoints may comprise automatically selecting thecurrent position of the aerial vehicle as the origin, and constructing aflight plan along the boundary line from the origin point for thespecified distance using waypoints from the geographical database thatare along the boundary line for the specified distance. The flight crewinput may comprise flight crew selection of the identity of a boundaryline along which the aerial vehicle is to fly; and automaticallyselecting a set of geo coordinate waypoints may comprise automaticallyconstructing a flight plan along the complete length of the boundaryline using waypoints from the geographical database that are along theboundary line. The refining the set of geo coordinate waypoints using acalculated turn initiation distance (TID) and a turn completion distance(TCD) for every waypoint may comprise refining the set of geo coordinatewaypoints by: computing a turn initiation distance (TID) and a turncompletion distance (TCD) for every waypoint; and for each waypoint inthe set of geo coordinate waypoints, when the sum of the TID for theparticular waypoint and the TCD for the prior waypoint in the set of geocoordinate waypoints is greater than a distance between the priorwaypoint and the particular waypoint, removing the particular waypointfrom the set of geo coordinate waypoints, connecting the prior waypointto the next waypoint in the set of geo coordinate waypoints, andre-computing the course and distance between the prior waypoint to thenext waypoint. The predetermined amount is 3 degrees. The method mayfurther comprise constructing a set of offset flight plan waypoints fromthe further refined set of geo coordinate waypoints when a lateraloffset distance is requested for the waypoints by projecting eachwaypoint from the further refined set of geo coordinate waypoints by thelateral offset distance at a waypoint bisector for the waypoint. Themethod may further comprise refining the set of offset flight planwaypoints by: computing the TID and TCD at every offset waypointtransition; and when the sum of the TID for a particular waypoint andthe TCD for the prior waypoint is greater than a distance between theprior waypoint and the particular waypoint, removing the particularwaypoint, and connecting the prior waypoint to the next waypoint. Themethod may further comprise generating a set of courses and distancesbetween offset waypoints through computing, for each set of twoconsecutive waypoints in the refined set of offset waypoints, the courseand distance between the two consecutive waypoints. The method mayfurther comprise constructing the flight plan using the waypoints in thefurther refined set of offset flight plan waypoints and the set ofcourses and distances between offset waypoints. The method may furthercomprise further refining the refined set of geo coordinate waypointsbased on the course change between waypoints by computing a coursechange at every waypoint from the refined set of geo coordinatewaypoints, retaining a waypoint from the refined set of geo coordinatewaypoints when the course change at the waypoint is greater than apredetermined amount, and removing a waypoint from the refined set ofgeo coordinate waypoints when the course change at the waypoint is notgreater than the predetermined amount. The method may further compriseapplying a course reversal at the end of the boundary flight path andensuring that the aerial vehicle does not cross boundary lines. Themethod may further comprise applying a course reversal at a point otherthan an end point on the flight path along the boundary flight path. Themethod may further comprise adjusting the construction of the flightpath laterally and vertically by considering weather data inputs. Themethod may further comprise adjusting the construction of the flightpath laterally and vertically by considering Terrain database inputs.The method may further comprise adjusting the construction of the flightpath laterally and vertically by considering Airspace restrictions. Themethod may further comprise adjusting the construction of the flightpath laterally and vertically by considering NOTAM inputs.

In another embodiment, non-transitory computer readable media encodedwith programming instructions configurable to cause a processor inflight deck equipment to perform a method is provided. The methodcomprises automatically selecting a set of geographical (geo) coordinatewaypoints along a boundary line using waypoints from the geographicaldatabase responsive to flight crew input; refining the set of geocoordinate waypoints using a calculated turn initiation distance (TID)and a turn completion distance (TCD) for every waypoint; furtherrefining the refined set of geo coordinate waypoints based on the coursechange between waypoints; generating a set of courses and distancesbetween waypoints through computing, for each set of two consecutivewaypoints in the further refined set of geo coordinate waypoints, thecourse and distance between the two consecutive waypoints; andconstructing the flight plan based on the waypoints in the furtherrefined set of geo coordinate waypoints and the set of courses anddistances between waypoints. The flight plan is flown by the aerialvehicle.

These aspects and other embodiments may include one or more of thefollowing features. The flight crew input may comprise flight crewselection of an origin point, a destination point, and the identity of aboundary line along which the aerial vehicle is to fly; andautomatically selecting a set of geo coordinate waypoints may compriseautomatically selecting a boundary segment from the identified boundaryline between the origin point and the destination point, andconstructing a flight plan along the boundary segment using waypointsfrom the geographical database that are along the boundary segment andbetween the origin point and the destination point. The flight crewinput may comprise the identity of a boundary line along which theaerial vehicle is to fly and a distance; and automatically selecting aset of geo coordinate waypoints may comprise automatically selecting thecurrent position of the aerial vehicle as the origin, and constructing aflight plan along the boundary line from the origin point for thespecified distance using waypoints from the geographical database thatare along the boundary line for the specified distance. The flight crewinput may comprise flight crew selection of the identity of a boundaryline along which the aerial vehicle is to fly; and automaticallyselecting a set of geo coordinate waypoints may comprise automaticallyconstructing a flight plan along the complete length of the boundaryline using waypoints from the geographical database that are along theboundary line. The refining the set of geo coordinate waypoints using acalculated turn initiation distance (TID) and a turn completion distance(TCD) for every waypoint may comprise refining the set of geo coordinatewaypoints by: computing a turn initiation distance (TID) and a turncompletion distance (TCD) for every waypoint; and for each waypoint inthe set of geo coordinate waypoints, when the sum of the TID for theparticular waypoint and the TCD for the prior waypoint in the set of geocoordinate waypoints is greater than a distance between the priorwaypoint and the particular waypoint, removing the particular waypointfrom the set of geo coordinate waypoints, connecting the prior waypointto the next waypoint in the set of geo coordinate waypoints, andre-computing the course and distance between the prior waypoint to thenext waypoint. The predetermined amount is 3 degrees. The method mayfurther comprise constructing a set of offset flight plan waypoints fromthe further refined set of geo coordinate waypoints when a lateraloffset distance is requested for the waypoints by projecting eachwaypoint from the further refined set of geo coordinate waypoints by thelateral offset distance at a waypoint bisector for the waypoint. Themethod may further comprise refining the set of offset flight planwaypoints by: computing the TID and TCD at every offset waypointtransition; and when the sum of the TID for a particular waypoint andthe TCD for the prior waypoint is greater than a distance between theprior waypoint and the particular waypoint, removing the particularwaypoint, and connecting the prior waypoint to the next waypoint. Themethod may further comprise generating a set of courses and distancesbetween offset waypoints through computing, for each set of twoconsecutive waypoints in the refined set of offset waypoints, the courseand distance between the two consecutive waypoints. The method mayfurther comprise constructing the flight plan using the waypoints in thefurther refined set of offset flight plan waypoints and the set ofcourses and distances between offset waypoints. The method may furthercomprise further refining the refined set of geo coordinate waypointsbased on the course change between waypoints by computing a coursechange at every waypoint from the refined set of geo coordinatewaypoints, retaining a waypoint from the refined set of geo coordinatewaypoints when the course change at the waypoint is greater than apredetermined amount, and removing a waypoint from the refined set ofgeo coordinate waypoints when the course change at the waypoint is notgreater than the predetermined amount. The method may further compriseapplying a course reversal at the end of the boundary flight path andensuring that the aerial vehicle does not cross boundary lines. Themethod may further comprise applying a course reversal at a point otherthan an end point on the flight path along the boundary flight path. Themethod may further comprise adjusting the construction of the flightpath laterally and vertically by considering weather data inputs. Themethod may further comprise adjusting the construction of the flightpath laterally and vertically by considering Terrain database inputs.The method may further comprise adjusting the construction of the flightpath laterally and vertically by considering Airspace restrictions. Themethod may further comprise adjusting the construction of the flightpath laterally and vertically by considering NOTAM inputs.

In another embodiment, a processor-implemented system for automaticallyconstructing a flight plan for an aerial vehicle that aligns with aboundary line using information from a geographical database isprovided. The system is configured to identify a set of geo coordinatewaypoints by: responsive to receiving flight crew selection of an originpoint, a destination point, and the identity of a boundary line alongwhich the aerial vehicle is to fly, automatically selecting a boundarysegment from the identified boundary line between the origin point andthe destination point, and constructing a flight plan along the boundarysegment using waypoints from the geographical database that are alongthe boundary segment and between the origin point and the destinationpoint; responsive to receiving flight crew selection of the identity ofa boundary line along which the aerial vehicle is to fly and a distance,automatically selecting the current position as the origin, andconstructing a flight plan along the boundary line from the origin pointfor the specified distance using waypoints from the geographicaldatabase that are along the boundary line for the specified distance;and responsive to receiving flight crew selection of the identity of aboundary line along which the aerial vehicle is to fly, automaticallyconstructing a flight plan along the complete length of the boundaryline using waypoints from the geographical database that are along theboundary line. The system is further configured to refine the set of geocoordinate waypoints by: computing a turn initiation distance (TID) anda turn completion distance (TCD) for every waypoint; and when the sum ofthe TID for a particular waypoint and the TCD for the prior waypoint isgreater than a distance between the prior waypoint and the particularwaypoint, removing the particular waypoint, connecting the priorwaypoint to the next waypoint, and re-computing the course and distancebetween the prior waypoint to the next waypoint. The system is furtherconfigured to further refine the refined set of geo coordinate waypointsby computing a course change at every waypoint from the refined set ofgeo coordinate waypoints, retaining a waypoint from the refined set ofgeo coordinate waypoints when the course change at the waypoint isgreater than 3 degrees, and removing a waypoint from the refined set ofgeo coordinate waypoints when the course change at the waypoint is notgreater than 3 degrees; compute, for each waypoint in the furtherrefined set of geo coordinate waypoints, the course and distance betweena prior waypoint and a next waypoint; construct a set of offset flightplan waypoints from the further refined set of geo coordinate waypointswhen a lateral offset distance is requested for the waypoints byprojecting each waypoint from the further refined set of geo coordinatewaypoints by the lateral offset distance at a waypoint bisector for thewaypoint; and refine the set of offset flight plan waypoints by:computing the TID and TCD at every offset waypoint transition; and whenthe sum of the TID for a particular waypoint and the TCD for the priorwaypoint is greater than a distance between the prior waypoint and theparticular waypoint, removing the particular waypoint, connecting theprior waypoint to the next waypoint, and re-computing the course anddistance between the prior waypoint to the next waypoint.

Those of skill in the art will appreciate that the various illustrativelogical blocks, modules, circuits, and algorithm steps described inconnection with the embodiments disclosed herein may be implemented aselectronic hardware, computer software, or combinations of both. Some ofthe embodiments and implementations are described above in terms offunctional and/or logical block components (or modules) and variousprocessing steps. However, it should be appreciated that such blockcomponents (or modules) may be realized by any number of hardware,software, and/or firmware components configured to perform the specifiedfunctions. To clearly illustrate this interchangeability of hardware andsoftware, various illustrative components, blocks, modules, circuits,and steps have been described above generally in terms of theirfunctionality. Whether such functionality is implemented as hardware orsoftware depends upon the particular application and design constraintsimposed on the overall system. Skilled artisans may implement thedescribed functionality in varying ways for each particular application,but such implementation decisions should not be interpreted as causing adeparture from the scope of the present invention. For example, anembodiment of a system or a component may employ various integratedcircuit components, e.g., memory elements, digital signal processingelements, logic elements, look-up tables, or the like, which may carryout a variety of functions under the control of one or moremicroprocessors or other control devices. In addition, those skilled inthe art will appreciate that embodiments described herein are merelyexemplary implementations.

The various illustrative logical blocks, modules, and circuits describedin connection with the embodiments disclosed herein may be implementedor performed with a general purpose processor, a digital signalprocessor (DSP), an application specific integrated circuit (ASIC), afield programmable gate array (FPGA) or other programmable logic device,discrete gate or transistor logic, discrete hardware components, or anycombination thereof designed to perform the functions described herein.A general-purpose processor may be a microprocessor, but in thealternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core, or any other suchconfiguration.

The steps of a method or algorithm described in connection with theembodiments disclosed herein may be embodied directly in hardware, in asoftware module executed by a processor, or in a combination of the two.A software module may reside in RAM memory, flash memory, ROM memory,EPROM memory, EEPROM memory, registers, hard disk, a removable disk, aCD-ROM, or any other form of storage medium known in the art. Anexemplary storage medium is coupled to the processor such that theprocessor can read information from, and write information to, thestorage medium. In the alternative, the storage medium may be integralto the processor. The processor and the storage medium may reside in anASIC. The ASIC may reside in a user terminal. In the alternative, theprocessor and the storage medium may reside as discrete components in auser terminal.

In this document, relational terms such as first and second, and thelike may be used solely to distinguish one entity or action from anotherentity or action without necessarily requiring or implying any actualsuch relationship or order between such entities or actions. Numericalordinals such as “first,” “second,” “third,” etc. simply denotedifferent singles of a plurality and do not imply any order or sequenceunless specifically defined by the claim language. The sequence of thetext in any of the claims does not imply that process steps must beperformed in a temporal or logical order according to such sequenceunless it is specifically defined by the language of the claim. Theprocess steps may be interchanged in any order without departing fromthe scope of the invention as long as such an interchange does notcontradict the claim language and is not logically nonsensical.

Furthermore, depending on the context, words such as “connect” or“coupled to” used in describing a relationship between differentelements do not imply that a direct physical connection must be madebetween these elements. For example, two elements may be connected toeach other physically, electronically, logically, or in any othermanner, through one or more additional elements.

While at least one exemplary embodiment has been presented in theforegoing detailed description of the invention, it should beappreciated that a vast number of variations exist. It should also beappreciated that the exemplary embodiment or exemplary embodiments areonly examples, and are not intended to limit the scope, applicability,or configuration of the invention in any way. Rather, the foregoingdetailed description will provide those skilled in the art with aconvenient road map for implementing an exemplary embodiment of theinvention. It being understood that various changes may be made in thefunction and arrangement of elements described in an exemplaryembodiment without departing from the scope of the invention as setforth in the appended claims.

What is claimed is:
 1. A processor-implemented system for automaticallyconstructing a flight plan for an aerial vehicle that aligns with aboundary line using information from a geographical database, the systemhaving a controller comprising one or more processors configured byprogramming instructions on non-transitory computer readable media, thecontroller configured to: automatically select a set of geographical(geo) coordinate waypoints along a boundary line using waypoints fromthe geographical database responsive to flight crew input; determine afirst subset of the set of geo coordinate waypoints based on acalculated turn initiation distance (TID) and a turn completion distance(TCD) for every waypoint; determine a second subset of geo coordinatewaypoints based on a course change between waypoints; generate a set ofcourses and distances between waypoints through computing, for each setof two consecutive waypoints in the second subset of geo coordinatewaypoints, the course and distance between the two consecutivewaypoints; and construct the flight plan based on the waypoints in thesecond subset of geo coordinate waypoints and the set of courses anddistances between waypoints; wherein the flight plan is flown by theaerial vehicle.
 2. The processor-implemented system of claim 1, wherein:the flight crew input comprises flight crew selection of an originpoint, a destination point, and an identity of a boundary line alongwhich the aerial vehicle is to fly; and to automatically select a set ofgeo coordinate waypoints, the controller is configured to automaticallyselect a boundary segment from the boundary line between the originpoint and the destination point, and construct a flight plan along theboundary segment using waypoints from the geographical database that arealong the boundary segment and between the origin point and thedestination point.
 3. The processor-implemented system of claim 1,wherein: the flight crew input comprises an identity of a boundary linealong which the aerial vehicle is to fly and a distance; and toautomatically select a set of geo coordinate waypoints, the controlleris configured to automatically select a current position of the aerialvehicle as an origin point, and construct a flight plan along theboundary line from the origin point for a specified distance usingwaypoints from the geographical database that are along the boundaryline for the specified distance.
 4. The processor-implemented system ofclaim 1, wherein: the flight crew input comprises flight crew selectionof an identity of a boundary line along which the aerial vehicle is tofly; and to automatically select a set of geo coordinate waypoints, thecontroller is configured to automatically construct a flight plan alonga complete length of the boundary line using waypoints from thegeographical database that are along the boundary line.
 5. Theprocessor-implemented system of claim 1, wherein to refine the set ofgeo coordinate waypoints using a calculated turn initiation distance(TID) and a turn completion distance (TCD) for every waypoint, thecontroller is configured to refine the set of geo coordinate waypointsby: computing a turn initiation distance (TID) and a turn completiondistance (TCD) for every waypoint; and for each waypoint in the set ofgeo coordinate waypoints, when a sum of the TID for a particularwaypoint and the TCD for a prior waypoint in the set of geo coordinatewaypoints is greater than a distance between the prior waypoint and theparticular waypoint, removing the particular waypoint from the set ofgeo coordinate waypoints, connecting the prior waypoint to a nextwaypoint in the set of geo coordinate waypoints, and re-computing thecourse and distance between the prior waypoint to the next waypoint. 6.The processor-implemented system of claim 1, wherein the controller isfurther configured to construct a set of offset flight plan waypointsfrom the second subset of geo coordinate waypoints when a lateral offsetdistance is requested for the waypoints by projecting each waypoint fromthe second subset of geo coordinate waypoints by the lateral offsetdistance at a waypoint bisector for the waypoint.
 7. Theprocessor-implemented system of claim 6, wherein the controller isfurther configured to refine the set of offset flight plan waypoints by:computing the TID and TCD at every offset waypoint transition; and whena sum of the TID for a particular waypoint and the TCD for a priorwaypoint is greater than a distance between the prior waypoint and theparticular waypoint, removing the particular waypoint, and connectingthe prior waypoint to a next waypoint.
 8. The processor-implementedsystem of claim 7, wherein the controller is further configured to:generate a set of courses and distances between offset waypoints throughcomputing, for each set of two consecutive waypoints in the refined setof offset flight plan waypoints, the course and distance between the twoconsecutive waypoints; and construct the flight plan using the waypointsin the refined set of offset flight plan waypoints and the set ofcourses and distances between offset waypoints.
 9. Theprocessor-implemented system of claim 1, wherein the controller isfurther configured to determine the second subset of geo coordinatewaypoints based on the course change between waypoints by computing acourse change at every waypoint from the first subset of geo coordinatewaypoints, retaining a waypoint from the first subset of geo coordinatewaypoints when the course change at the waypoint is greater than apredetermined amount, and removing a waypoint from the first subset ofgeo coordinate waypoints when the course change at the waypoint is notgreater than the predetermined amount.
 10. The processor-implementedsystem of claim 1, wherein the controller is further configured to applya course reversal at an end of a boundary flight path and ensure thatthe aerial vehicle does not cross boundary lines.
 11. Theprocessor-implemented system of claim 1, wherein the controller isfurther configured to apply a course reversal at a point other than anend point on a flight path along a boundary flight path.
 12. Theprocessor-implemented system of claim 1, wherein the controller isfurther configured to adjust the construction of a flight path laterallyand vertically by considering weather data inputs.
 13. Theprocessor-implemented system of claim 1, wherein the controller isfurther configured to adjust the construction of a flight path laterallyand vertically by considering Terrain database inputs.
 14. Theprocessor-implemented system of claim 1, wherein the controller isfurther configured to adjust the construction of a flight path laterallyand vertically by considering Airspace restrictions.
 15. Theprocessor-implemented system of claim 1, wherein the controller isfurther configured to adjust the construction of a flight path laterallyand vertically by considering NOTAM inputs.
 16. A processor-implementedmethod in flight deck equipment for automatically constructing a flightplan for an aerial vehicle that aligns with a boundary line usinginformation from a geographical database, the method comprising:automatically selecting a set of geographical (geo) coordinate waypointsalong a boundary line using waypoints from the geographical databaseresponsive to flight crew input; determining a first subset of the setof geo coordinate waypoints based on a calculated turn initiationdistance (TID) and a turn completion distance (TCD) for every waypoint;determining a second subset of geo coordinate waypoints based on acourse change between waypoints; generating a set of courses anddistances between waypoints through computing, for each set of twoconsecutive waypoints in the second subset of geo coordinate waypoints,the course and distance between the two consecutive waypoints; andconstructing the flight plan based on the waypoints in the second subsetof geo coordinate waypoints and the set of courses and distances betweenwaypoints; wherein the flight plan is flown by the aerial vehicle. 17.The method of claim 16, further comprising constructing a set of offsetflight plan waypoints from the second subset of geo coordinate waypointswhen a lateral offset distance is requested for the waypoints byprojecting each waypoint from the second subset of geo coordinatewaypoints by the lateral offset distance at a waypoint bisector for thewaypoint.
 18. The method of claim 17, further comprising refining theset of offset flight plan waypoints by: computing the TID and TCD atevery offset waypoint transition; and when a sum of the TID for aparticular waypoint and the TCD for a prior waypoint is greater than adistance between the prior waypoint and the particular waypoint,removing the particular waypoint, and connecting the prior waypoint to anext waypoint.
 19. The method of claim 18, further comprising:generating a set of courses and distances between offset waypointsthrough computing, for each set of two consecutive waypoints in therefined set of offset flight plan waypoints, the course and distancebetween the two consecutive waypoints; and constructing the flight planusing the waypoints in the refined set of offset flight plan waypointsand the set of courses and distances between offset waypoints. 20.Non-transitory computer readable media encoded with programminginstructions configurable to cause a processor in flight deck equipmentto perform a method, the method comprising: automatically selecting aset of geographical (geo) coordinate waypoints along a boundary lineusing waypoints from a geographical database responsive to flight crewinput; determining a first subset of the set of geo coordinate waypointsbased on a calculated turn initiation distance (TID) and a turncompletion distance (TCD) for every waypoint; determining a secondsubset of geo coordinate waypoints based on a course change betweenwaypoints; generating a set of courses and distances between waypointsthrough computing, for each set of two consecutive waypoints in thesecond subset of geo coordinate waypoints, the course and distancebetween the two consecutive waypoints; and constructing a flight planbased on the waypoints in the second subset of geo coordinate waypointsand the set of courses and distances between waypoints; wherein theflight plan is flown by an aerial vehicle.